version: 66.02
glider: 128
mission: 2
dive: 122
start: 9 10 107 3 54 9
data:
$ID,128
$MISSION,2
$DIVE,122
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,50
$T_MISSION,65
$T_ABORT,1440
$T_TURN,270
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51503
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0041149999
$HD_B,0.014024
$HD_C,5.5727e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,48.133301
$TGT_DEFAULT_LON,-122.4
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-61610.699
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,25
$PITCH_MAX,4070
$C_PITCH,2820
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,145
$ROLL_MAX,4014
$C_ROLL_DIVE,2210
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,204
$VBD_MAX,3580
$C_VBD,2800
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,1
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-10.508845
$PRESSURE_SLOPE,9.9999997e-05
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,25
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043805656
$SEABIRD_T_H,0.00064742006
$SEABIRD_T_I,2.5554549e-05
$SEABIRD_T_J,2.6681391e-06
$SEABIRD_C_G,-10.331019
$SEABIRD_C_H,1.1763502
$SEABIRD_C_I,-0.0012340198
$SEABIRD_C_J,0.00017379176
$GPS1,034437,4806.388,-12222.270,22,1.2,34,18.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-67.2
$GPS2,035309,4806.366,-12222.279,12,1.6,12,18.3
$SPEED_LIMITS,0.060,0.170
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.055,-0.160
$KALMAN_X,9981.6,-89.9,-32.1,-7863.1,138.9
$KALMAN_Y,3185.4,148.7,-80.7,-7142.3,-112.6
$MHEAD_RNG_PITCHd_Wd,142.8,760,-13.2,-6.000
$D_GRID,107
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.78,-146.6,0.0,0.0,0,105,0.00,0.00,-81.78,0.000,6,0.000,0.000,2,2229,3399
$GC,107,-0.78,-146.6,3.9,-4.3,15,126,10.68,2.33,0.00,0.000,4,0.222,0.046,2551,3605,3403
$GC,428,-0.78,-146.6,33.5,-6.8,55,436,0.00,2.28,0.00,0.000,6,0.000,0.029,2551,2193,3404
$GC,625,-0.78,-146.6,46.1,-6.4,74,629,0.00,2.35,0.00,0.000,4,0.000,0.050,2550,3607,3405
$GC,749,-0.78,-146.6,54.3,-6.2,85,753,0.00,2.22,0.00,0.000,6,0.000,0.029,2550,2201,3404
$GC,1074,-0.78,-146.6,74.7,-6.3,115,1075,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2200,3405
$STATE,1315,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1316,begin apogee
$GC,1320,-0.23,0.0,90.2,6.5,138,1439,0.62,0.00,114.50,0.854,6,0.113,0.000,2745,2198,2800
$STATE,1440,end apogee,CONTROL_FINISHED_OK
$STATE,1440,begin climb
$GC,1441,0.78,146.6,92.4,0.0,150,1560,1.00,2.50,111.85,0.704,4,0.081,0.042,3077,758,2202
$GC,1589,0.78,146.6,85.2,6.9,164,1593,0.00,2.33,0.00,0.000,6,0.000,0.034,3077,2140,2201
$GC,1914,0.78,146.6,60.3,7.4,194,1918,0.00,2.38,0.00,0.000,4,0.000,0.048,3077,3562,2200
$GC,1952,0.78,146.6,57.2,8.3,197,1957,0.00,2.28,0.00,0.000,6,0.000,0.031,3081,2157,2200
$GC,2279,0.78,146.6,32.4,7.7,227,2283,0.00,2.30,0.00,0.000,4,0.000,0.043,3081,743,2200
$GC,2310,0.78,146.6,29.7,7.5,229,2318,0.00,2.30,0.00,0.000,6,0.000,0.034,3081,2154,2199
$GC,2513,0.78,146.6,15.6,7.2,253,2518,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2153,2199
$GC,2586,0.78,146.6,10.6,6.7,266,2592,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2153,2199
$GC,2660,0.78,146.6,5.6,6.8,279,2666,0.00,2.30,0.00,0.000,4,0.000,0.049,3082,3553,2199
$GC,2694,0.78,146.6,3.3,6.5,285,2700,0.00,2.25,0.00,0.000,6,0.000,0.031,3083,2144,2199
$STATE,2733,end climb,SURFACE_DEPTH_REACHED
$STATE,2733,begin surface coast
$FINISH,0.4,1.025264
$STATE,2796,end surface coast,CONTROL_FINISHED_OK
$STATE,2796,begin surface
$SM_CCo,2812,97.62,0.867,0,0,1373,350.04
$SM_GC,1.16,0.00,0.00,97.62,0.000,0.000,0.867,9,2230,1373,-8.79,0.57,350.04
$IRIDIUM_FIX,4751.72,-12219.12,100907,070705
$TT8_MAMPS,0.026078
$HUMID,1825
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,15.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.5,54.0
$24V_AH,24.4,18.310
$10V_AH,10.8,7.445
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,21.000,27.925,226.350,97.625,0.000,81.349,159.454,133.652,0.250,0.000,0.000,14.058,512.822,1450.467,369.955,653.497,460.565,33.341,714.976,0.000,663.509,0.000,2.528
$DEVICE_MAMPS,221.663,64.428,853.671,867.477,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,216.768,233.413,511.293,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15954,303
$CFSIZE,260165632,254296064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100907,044321,4806.048,-12222.113,7,1.2,8,18.3